Feature-tracking based pose estimation for autonomous rendezvous and docking
Systems and Control in Aeronautics and Astronautics（2010）
摘要
Schemes for feature tracking and relative pose estimation for the final approach of rendezvous and docking procedure is proposed in this paper. Positions of the feature points were predicted by Kalman filter proposed to reduce the searching area, which effectively increased both the calculation speed and the anti-disturbance ability. Relative pose information was retrieved from solving the 3 points problem, and was taken as input of the control loop to navigate the target spacecraft to a fixed position. A vision based RVD simulation platform was built upon the on-ground semi-physical experiment platform, and experiment results showed that the proposed algorithm successfully reduced the searching error and greatly enhanced the calculation speed.
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关键词
searching error,kalman filter,antidisturbance ability,kalman filters,space vehicles,vision based rvd simulation platform,aerospace computing,target tracking,aircraft navigation,information retrieval,target spacecraft,autonomous docking,pose estimation,search problems,feature extraction,autonomous rendezvous,feature tracking based pose estimation,pose information retrieval,control loop,on-ground semiphysical experiment platform,accuracy,estimation
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